TY - GEN
T1 - Design of a two DOF laminate leg transmission for creating walking robot platforms
AU - Shuch, Benjamin D.
AU - Shafa, Taha
AU - Rogers, Eric
AU - Aukes, Daniel M.
N1 - Publisher Copyright:
Copyright © 2019 ASME.
PY - 2019
Y1 - 2019
N2 - In this article we present a low-cost, two degree-of-freedom laminate robot transmission for legged locomotion applications. This transmission is specifically applied in the design of a quadrupedal robot, and has the potential to be used in other multi-legged systems. It offers a complex control space with a variety of different programmable gait trajectories, while leveraging low-cost linkages made using laminate approaches. The two-degree-of-freedom kinematics of the leg are subsequently modeled in Python, and the workspace of the robot is then experimentally verified on an initial quadrupedal design. Critical design considerations include the laminate design, the rigidity of the materials that make up the laminate, and the range of motion the device can undergo.
AB - In this article we present a low-cost, two degree-of-freedom laminate robot transmission for legged locomotion applications. This transmission is specifically applied in the design of a quadrupedal robot, and has the potential to be used in other multi-legged systems. It offers a complex control space with a variety of different programmable gait trajectories, while leveraging low-cost linkages made using laminate approaches. The two-degree-of-freedom kinematics of the leg are subsequently modeled in Python, and the workspace of the robot is then experimentally verified on an initial quadrupedal design. Critical design considerations include the laminate design, the rigidity of the materials that make up the laminate, and the range of motion the device can undergo.
UR - http://www.scopus.com/inward/record.url?scp=85076457132&partnerID=8YFLogxK
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U2 - 10.1115/DETC2019-98100
DO - 10.1115/DETC2019-98100
M3 - Conference contribution
AN - SCOPUS:85076457132
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 43rd Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019
Y2 - 18 August 2019 through 21 August 2019
ER -